808 lines
25 KiB
C++
808 lines
25 KiB
C++
// BQ_workpieceCornerExtract_test.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
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//
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#include <iostream>
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#include <fstream>
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#include <vector>
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#include <stdio.h>
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#include <VZNL_Types.h>
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#include "direct.h"
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#include <string>
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#include "BQ_assemblyPosition_Export.h"
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#include <opencv2/opencv.hpp>
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#include <Windows.h>
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#include <limits>
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typedef struct
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{
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int r;
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int g;
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int b;
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}SG_color;
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typedef struct
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{
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int nPointIdx;
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double x;
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double y;
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double z;
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float r;
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float g;
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float b;
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} SPointXYZRGB;
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void vzReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
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{
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std::ifstream inputFile(fileName);
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std::string linedata;
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if (inputFile.is_open() == false)
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return;
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std::vector< SVzNL3DPosition> a_line;
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int ptIdx = 0;
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("Line_", linedata.c_str(), 5))
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{
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int ptSize = (int)a_line.size();
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if (ptSize > 0)
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{
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scanData.push_back(a_line);
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}
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a_line.clear();
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ptIdx = 0;
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}
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else if (0 == strncmp("{", linedata.c_str(), 1))
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{
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float X, Y, Z;
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int imageY = 0;
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float leftX, leftY;
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float rightX, rightY;
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//迁移相机的XY次序和伟景相机正好相反
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sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &Y, &X, &Z, &leftX, &leftY, &rightX, &rightY);
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SVzNL3DPosition a_pt;
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a_pt.pt3D.x = X;
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a_pt.pt3D.y = Y;
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a_pt.pt3D.z = Z;
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a_pt.nPointIdx = ptIdx;
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ptIdx++;
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a_line.push_back(a_pt);
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}
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}
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//last line
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int ptSize = (int)a_line.size();
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if (ptSize > 0)
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{
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scanData.push_back(a_line);
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a_line.clear();
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}
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inputFile.close();
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return;
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}
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void wdSavePlyTxt(const char* fileName, std::vector<std::vector< SVzNL3DPosition>> scanLines)
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{
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std::ofstream sw(fileName);
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int lineNum = scanLines.size();
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for (int line = 0; line < lineNum; line++)
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{
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int nPositionCnt = scanLines[line].size();
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for (int i = 0; i < nPositionCnt; i++)
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{
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SVzNL3DPoint* pt3D = &scanLines[line][i].pt3D;
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if (pt3D->z < 1e-4)
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continue;
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double x = (double)pt3D->x;
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double y = (double)pt3D->y;
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double z = (double)pt3D->z;
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sw << x << "," << y << "," << z << std::endl;
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}
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}
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sw.close();
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}
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void _convertToGridData_XYZ_vector(std::vector<std::vector< SVzNL3DPosition>>& scanData, double _F, std::vector<std::vector< SVzNL3DPosition>>& scanData_grid)
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{
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int min_y = 100000000;
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int max_y = -10000000;
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int lineNum = scanData.size();
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for (int line = 0; line < lineNum; line++)
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{
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std::vector< SVzNL3DPosition>& a_line = scanData[line];
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int nPointCnt = a_line.size();
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for (int i = 0; i < nPointCnt; i++)
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{
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SVzNL3DPosition* a_pt = &scanData[line][i];
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if (a_pt->pt3D.z > 1e-4)
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{
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double v = _F * a_pt->pt3D.y / a_pt->pt3D.z + 2000;
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a_pt->nPointIdx = (int)(v + 0.5);
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max_y = max_y < (int)a_pt->nPointIdx ? (int)a_pt->nPointIdx : max_y;
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min_y = min_y > (int)a_pt->nPointIdx ? (int)a_pt->nPointIdx : min_y;
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}
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}
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}
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if (min_y == 100000000)
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return;
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int pt_counter = max_y - min_y + 1;
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for (int line = 0; line < lineNum; line++)
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{
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std::vector< SVzNL3DPosition> gridData;
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gridData.resize(pt_counter);
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for (int i = 0; i < pt_counter; i++)
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gridData[i] = { 0,{ 0.0, 0.0, 0.0} };
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std::vector< SVzNL3DPosition>& a_line = scanData[line];
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int nPointCnt = a_line.size();
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for (int i = 0; i < nPointCnt; i++)
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{
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SVzNL3DPosition a_pt = a_line[i];
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if (a_pt.pt3D.z > 1e-4)
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{
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int pt_id = a_pt.nPointIdx - min_y;
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gridData[pt_id] = a_pt;
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}
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}
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scanData_grid.push_back(gridData);
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}
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return;
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}
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void _outputScanDataFile_XYZ_vector(char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
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{
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std::ofstream sw(fileName);
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int lineNum = scanData.size();
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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for (int line = 0; line < lineNum; line++)
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{
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int nPositionCnt = scanData[line].size();
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sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
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for (int i = 0; i < nPositionCnt; i++)
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{
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SVzNL3DPosition* pt3D = &scanData[line][i];
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float x = (float)pt3D->pt3D.x;
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float y = (float)pt3D->pt3D.y;
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float z = (float)pt3D->pt3D.z;
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char str[250];
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sprintf_s(str, "{ %f, %f, %f } - { 0, 0 } - { 0, 0 }", x, y, z);
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sw << str << std::endl;
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}
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}
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sw.close();
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}
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void _getRoiData_XYZ_vector(
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std::vector<std::vector< SVzNL3DPosition>>& scanData,
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std::vector<std::vector< SVzNL3DPosition>>& roiData,
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SVzNL3DRangeD roi)
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{
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int lineNum = scanData.size();
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for (int line = 0; line < lineNum; line++)
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{
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int nPositionCnt = scanData[line].size();
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std::vector< SVzNL3DPosition> linePts;
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for (int i = 0; i < nPositionCnt; i++)
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{
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SVzNL3DPosition pt3D = scanData[line][i];
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if ((pt3D.pt3D.z >= roi.zRange.min) &&
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(pt3D.pt3D.z <= roi.zRange.max) &&
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(pt3D.pt3D.y >= roi.yRange.min) &&
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(pt3D.pt3D.y <= roi.yRange.max))
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{
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linePts.push_back(pt3D);
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}
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}
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roiData.push_back(linePts);
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}
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}
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void _outputCalibPara(char* fileName, SSG_planeCalibPara calibPara)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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//调平矩阵
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[0], calibPara.planeCalib[1], calibPara.planeCalib[2]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[3], calibPara.planeCalib[4], calibPara.planeCalib[5]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[6], calibPara.planeCalib[7], calibPara.planeCalib[8]);
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sw << dataStr << std::endl;
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//地面高度
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sprintf_s(dataStr, 250, "%g", calibPara.planeHeight);
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sw << dataStr << std::endl;
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//反向旋转矩阵
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[0], calibPara.invRMatrix[1], calibPara.invRMatrix[2]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[3], calibPara.invRMatrix[4], calibPara.invRMatrix[5]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[6], calibPara.invRMatrix[7], calibPara.invRMatrix[8]);
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sw << dataStr << std::endl;
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sw.close();
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}
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void _outputPoseInfo(char* fileName, SSX_BQAssemblyInfo assemblyPose)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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sprintf_s(dataStr, 250, " O: (%g, %g, %g)", assemblyPose.O.x, assemblyPose.O.y, assemblyPose.O.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, " X: (%g, %g, %g)", assemblyPose.X.x, assemblyPose.X.y, assemblyPose.X.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, " Y: (%g, %g, %g)", assemblyPose.Y.x, assemblyPose.Y.y, assemblyPose.Y.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, " Z: (%g, %g, %g)", assemblyPose.Z.x, assemblyPose.Z.y, assemblyPose.Z.z);
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sw << dataStr << std::endl;
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sw.close();
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}
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SSX_BQAssemblyInfo _readPoseInfo(char* fileName)
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{
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std::ifstream inputFile(fileName);
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std::string linedata;
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SSX_BQAssemblyInfo pose;
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memset(&pose, 0, sizeof(SSX_BQAssemblyInfo));
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if (inputFile.is_open() == false)
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return pose;
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getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), " O: (%lf, %lf, %lf)", &pose.O.x, &pose.O.y, &pose.O.z);
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getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), " X: (%lf, %lf, %lf)", &pose.X.x, &pose.X.y, &pose.X.z);
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getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), " Y: (%lf, %lf, %lf)", &pose.Y.x, &pose.Y.y, &pose.Y.z);
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getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), " Z: (%lf, %lf, %lf)", &pose.Z.x, &pose.Z.y, &pose.Z.z);
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inputFile.close();
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return pose;
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}
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void _readMarkData(char* fileName, std::vector<SWD_charuco3DMark>& marks)
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{
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std::ifstream inputFile(fileName);
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std::string linedata;
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while (getline(inputFile, linedata))
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{
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SWD_charuco3DMark a_mark;
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float x, y, z;
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sscanf_s(linedata.c_str(), "MarkID_%d: %f, %f, %f", &a_mark.markID, &x, &y, &z);
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a_mark.mark3D = { x, y, z };
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marks.push_back(a_mark);
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}
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inputFile.close();
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return;
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}
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void _outputScanDataFile_vector(char* fileName, std::vector<std::vector<SVzNL3DPosition>>& scanLines, bool removeZeros, int* headNullLines)
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{
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std::ofstream sw(fileName);
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int lineNum = (int)scanLines.size();
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if (lineNum == 0)
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return;
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int lineIdx = 0;
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int null_lines = 0;
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bool counterNull = true;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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if (true == removeZeros)
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{
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int vldPtNum = 0;
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for (int i = 0; i < linePtNum; i++)
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{
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if (scanLines[line][i].pt3D.z > 1e-4)
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vldPtNum++;
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}
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linePtNum = vldPtNum;
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}
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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bool isNull = true;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPoint* pt3D = &scanLines[line][i].pt3D;
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if ((pt3D->z > 1e-4) && (isNull == true))
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isNull = false;
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if ((true == removeZeros) && (pt3D->z < 1e-4))
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continue;
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float x = (float)pt3D->x;
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float y = (float)pt3D->y;
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float z = (float)pt3D->z;
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sw << "{ " << x << "," << y << "," << z << " }-";
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sw << "{0,0}-{0,0}" << std::endl;
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}
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if (true == counterNull)
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{
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if (true == isNull)
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null_lines++;
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else
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counterNull = false;
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}
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}
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*headNullLines = null_lines;
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sw.close();
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}
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SSG_planeCalibPara _readCalibPara(char* fileName)
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{
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//设置初始结果
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double initCalib[9] = {
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0 };
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SSG_planeCalibPara planePara;
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for (int i = 0; i < 9; i++)
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planePara.planeCalib[i] = initCalib[i];
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planePara.planeHeight = -1.0;
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for (int i = 0; i < 9; i++)
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planePara.invRMatrix[i] = initCalib[i];
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std::ifstream inputFile(fileName);
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std::string linedata;
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if (inputFile.is_open() == false)
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return planePara;
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//调平矩阵
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[0], &planePara.planeCalib[1], &planePara.planeCalib[2]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[3], &planePara.planeCalib[4], &planePara.planeCalib[5]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[6], &planePara.planeCalib[7], &planePara.planeCalib[8]);
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//地面高度
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf", &planePara.planeHeight);
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//反向旋转矩阵
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[0], &planePara.invRMatrix[1], &planePara.invRMatrix[2]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[3], &planePara.invRMatrix[4], &planePara.invRMatrix[5]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[6], &planePara.invRMatrix[7], &planePara.invRMatrix[8]);
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inputFile.close();
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return planePara;
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}
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void _outputRGBDScanLapWeld_RGBD(
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char* fileName,
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std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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SSX_BQAssemblyInfo assemblyPose)
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{
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int lineNum = (int)scanLines.size();
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std::ofstream sw(fileName);
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int realLines = lineNum;
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realLines++;
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sw << "LineNum:" << realLines << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int maxLineIndex = 0;
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int max_stamp = 0;
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SG_color rgb = { 0, 0, 0 };
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SG_color objColor[8] = {
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{245,222,179},//淡黄色
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{210,105, 30},//巧克力色
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{240,230,140},//黄褐色
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{135,206,235},//天蓝色
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{250,235,215},//古董白
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{189,252,201},//薄荷色
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{221,160,221},//梅红色
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{188,143,143},//玫瑰红色
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};
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int size = 1;
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int lineIdx = 0;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPosition* pt3D = &scanLines[line][i];
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if (pt3D->nPointIdx > 0)
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int kkk = 1;
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int featureType_v = pt3D->nPointIdx & 0xff;
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int featureType_h = featureType_v >> 4;
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featureType_v &= 0x0f;
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if (pt3D->nPointIdx == 1)
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{
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rgb = { 255, 97, 0 };
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size = 5;
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}
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||
else
|
||
{
|
||
rgb = { 200, 200, 200 };
|
||
size = 1;
|
||
}
|
||
float x = (float)pt3D->pt3D.x;
|
||
float y = (float)pt3D->pt3D.y;
|
||
float z = (float)pt3D->pt3D.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
}
|
||
|
||
int linePtNum = 1;
|
||
sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
|
||
lineNum++;
|
||
|
||
rgb = { 255, 0, 0 };
|
||
size = 15;
|
||
float x = (float)assemblyPose.O.x;
|
||
float y = (float)assemblyPose.O.y;
|
||
float z = (float)assemblyPose.O.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
sw.close();
|
||
}
|
||
|
||
SVzNL3DPoint _pointRT(SVzNL3DPoint& origin, const double* R, const double* T)
|
||
{
|
||
SVzNL3DPoint result;
|
||
result.x = origin.x * R[0] + origin.y * R[1] + origin.z * R[2];
|
||
result.y = origin.x * R[3] + origin.y * R[4] + origin.z * R[5];
|
||
result.z = origin.x * R[6] + origin.y * R[7] + origin.z * R[8];
|
||
result.x += T[0];
|
||
result.y += T[1];
|
||
result.z += T[2];
|
||
return result;
|
||
}
|
||
|
||
|
||
void _wirteVerifyResult(char* fileName,
|
||
std::vector<std::vector< SVzNL3DPoint>>& originMarksBuff,
|
||
std::vector<std::vector< SVzNL3DPoint>>& currMarksBuff,
|
||
std::vector< SSX_BQAssemblyInfo>& oiginPoseBuff,
|
||
std::vector< SSX_BQAssemblyInfo>& computePoseBuff,
|
||
std::vector< SSX_BQAssemblyInfo>& verifyPoseBuff)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
char dataStr[250];
|
||
|
||
for (int i = 0; i < (int)originMarksBuff.size(); i++)
|
||
{
|
||
int markSize = (int)originMarksBuff[i].size();
|
||
sprintf_s(dataStr, 250, "origin: ");
|
||
for (int j = 0; j < markSize; j++)
|
||
{
|
||
sprintf_s(dataStr, 250, "{ %g, %g, %g },", originMarksBuff[i][j].x, originMarksBuff[i][j].y, originMarksBuff[i][j].z);
|
||
sw << dataStr;
|
||
}
|
||
sprintf_s(dataStr, 250, " operate: ");
|
||
for (int j = 0; j < markSize; j++)
|
||
{
|
||
sprintf_s(dataStr, 250, "{ %g, %g, %g },", currMarksBuff[i][j].x, currMarksBuff[i][j].y, currMarksBuff[i][j].z);
|
||
sw << dataStr;
|
||
}
|
||
sprintf_s(dataStr, 250, " oriPose: { %g, %g, %g },", oiginPoseBuff[i].O.x, oiginPoseBuff[i].O.y, oiginPoseBuff[i].O.z);
|
||
sw << dataStr;
|
||
sprintf_s(dataStr, 250, " verifyPose: { %g, %g, %g },", verifyPoseBuff[i].O.x, verifyPoseBuff[i].O.y, verifyPoseBuff[i].O.z);
|
||
sw << dataStr;
|
||
sprintf_s(dataStr, 250, " computePose: { %g, %g, %g },", computePoseBuff[i].O.x, computePoseBuff[i].O.y, computePoseBuff[i].O.z);
|
||
sw << dataStr << std::endl;
|
||
}
|
||
sw.close();
|
||
return;
|
||
}
|
||
|
||
#define CONVERT_TO_GRID 0
|
||
#define TEST_COMPUTE_CALIB_PARA 0
|
||
#define TEST_COMPUTE_CORNER 0
|
||
#define TEST_COMPUTE_POSE 1
|
||
#define TEST_GROUP 2
|
||
int main()
|
||
{
|
||
const char* dataPath[TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦_博清科技/组装/3D与Mark/21epic/", //0
|
||
"F:/ShangGu/项目/冠钦_博清科技/组装/3D与Mark/20vizum/",
|
||
};
|
||
|
||
SVzNLRange fileIdx[TEST_GROUP] = {
|
||
{2,33},
|
||
};
|
||
|
||
#ifdef TEST_COMPUTE_POSE
|
||
double R_3D_mark[9] = {
|
||
9.7414217523834201e-01, -6.4917977205419487e-03, -2.2584259780711641e-01,
|
||
6.4677677434932046e-03, 9.9997872563826395e-01, - 8.4631630596682995e-04,
|
||
2.2584328726426117e-01, - 6.3626506196937213e-04, 9.7416343842521791e-01
|
||
};
|
||
double T_3D_mark[3] = {
|
||
2.0118012741488724e+02, -3.4890651052684677e+02,-2.9090717029324466e+01
|
||
};
|
||
double R_mark_3D[9] = {
|
||
9.7414217523834201e-01, 6.4677677434932046e-03, 2.2584328726426117e-01,
|
||
-6.4917977205419487e-03, 9.9997872563826395e-01,-6.3626506196937213e-04,
|
||
-2.2584259780711641e-01, -8.4631630596682995e-04, 9.7416343842521791e-01
|
||
};
|
||
double T_mark_3D[3] = {
|
||
-1.8715145749760768e+02, 3.5018659904922669e+02, 7.3478870260969714e+01
|
||
};
|
||
|
||
double R_3D_mark_20[9] = {
|
||
-9.7551111071544561e-01, 1.0398329224714965e-02,-2.1970422758802807e-01,
|
||
- 8.3582333026743106e-03,- 9.9991291186786824e-01, -1.0213158961794689e-02,
|
||
- 2.1979129374653508e-01, -8.1267108509691516e-03, 9.7551306693655782e-01,
|
||
};
|
||
double T_3D_mark_20[3] = {
|
||
5.7873032211966097e+02, 6.3216378913452741e+02, 6.5977504397803401e+01,
|
||
};
|
||
double R_mark_3D_20[9] = {
|
||
-9.7551111071544561e-01, -8.3582333026743106e-03, -2.1979129374653508e-01,
|
||
1.0398329224714965e-02, -9.9991291186786824e-01, -8.1267108509691516e-03,
|
||
-2.1970422758802807e-01, -1.0213158961794689e-02, 9.7551306693655782e-01
|
||
};
|
||
double T_mark_3D_20[3] = {
|
||
5.8434291282050799e+02, 6.2662708685011432e+02, 6.9243970007470736e+01
|
||
};
|
||
|
||
for (int grp = 0; grp <= 0; grp++)
|
||
{
|
||
char _scan_file[256];
|
||
std::vector<std::vector< SVzNL3DPoint>> originMarksBuff;
|
||
std::vector<std::vector< SVzNL3DPoint>> currMarksBuff;
|
||
std::vector< SSX_BQAssemblyInfo> oiginPoseBuff;
|
||
std::vector< SSX_BQAssemblyInfo> computePoseBuff;
|
||
std::vector< SSX_BQAssemblyInfo> verifyPoseBuff;
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =4;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sresult/LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
SSX_BQAssemblyInfo originPose_raw = _readPoseInfo(_scan_file);
|
||
SSX_BQAssemblyInfo originPose;
|
||
originPose.O = _pointRT(originPose_raw.O, R_3D_mark, T_3D_mark);
|
||
SSX_BQAssemblyInfo originPose_check;
|
||
originPose_check.O = _pointRT(originPose.O, R_mark_3D, T_mark_3D);
|
||
|
||
sprintf_s(_scan_file, "%sresult/marks_%d.txt", dataPath[grp], fidx);
|
||
std::vector<SWD_charuco3DMark> marks_origin;
|
||
_readMarkData(_scan_file, marks_origin);
|
||
|
||
sprintf_s(_scan_file, "%sresult/marks_%d.txt", dataPath[grp+1], fidx);
|
||
std::vector<SWD_charuco3DMark> marks_curr;
|
||
_readMarkData(_scan_file, marks_curr);
|
||
|
||
//配对
|
||
std::vector<SVzNL3DPoint> originMarkPos;
|
||
std::vector<SVzNL3DPoint> currMarkPos;
|
||
for (int i = 0; i < (int)marks_origin.size(); i++)
|
||
{
|
||
for (int j = 0; j < (int)marks_curr.size(); j++)
|
||
{
|
||
if (marks_origin[i].markID == marks_curr[j].markID)
|
||
{
|
||
SVzNL3DPoint pt_1 = { marks_origin[i].mark3D.x, marks_origin[i].mark3D.y, marks_origin[i].mark3D.z };
|
||
SVzNL3DPoint pt_2 = { marks_curr[j].mark3D.x, marks_curr[j].mark3D.y, marks_curr[j].mark3D.z };
|
||
originMarkPos.push_back(pt_1);
|
||
currMarkPos.push_back(pt_2);
|
||
}
|
||
}
|
||
}
|
||
|
||
SSX_BQAssemblyInfo testPose_origin, testPose_verify;
|
||
|
||
if (originMarkPos.size() >= 4) //同时使用最后一个作验证
|
||
{
|
||
testPose_origin.O = originMarkPos.back();
|
||
testPose_verify.O = currMarkPos.back();
|
||
originMarkPos.pop_back();
|
||
currMarkPos.pop_back();
|
||
|
||
originMarksBuff.push_back(originMarkPos);
|
||
currMarksBuff.push_back(currMarkPos);
|
||
|
||
int errCode = 0;
|
||
SSX_BQAssemblyInfo currPose = sx_BQ_computeAssemblyInfoFromMark(
|
||
originPose, originMarkPos, currMarkPos, &errCode);
|
||
|
||
SSX_BQAssemblyInfo compute_testPose = sx_BQ_computeAssemblyInfoFromMark(
|
||
testPose_origin, originMarkPos, currMarkPos, &errCode);
|
||
#if 0
|
||
SSX_BQAssemblyInfo checkPose;
|
||
checkPose.O = _pointRT(originPose_raw.O, R_3D_mark_20, T_3D_mark_20);
|
||
SSX_BQAssemblyInfo checkPose_check;
|
||
checkPose_check.O = _pointRT(checkPose.O, R_mark_3D_20, T_mark_3D_20);
|
||
#endif
|
||
if (errCode != 0)
|
||
continue;
|
||
|
||
//输出
|
||
oiginPoseBuff.push_back(testPose_origin);
|
||
computePoseBuff.push_back(compute_testPose);
|
||
verifyPoseBuff.push_back(testPose_verify);
|
||
}
|
||
|
||
}
|
||
sprintf_s(_scan_file, "%sresult/group_verify_data.txt", dataPath[grp]);
|
||
_wirteVerifyResult(_scan_file,
|
||
originMarksBuff,
|
||
currMarksBuff,
|
||
oiginPoseBuff,
|
||
computePoseBuff,
|
||
verifyPoseBuff);
|
||
}
|
||
|
||
#endif
|
||
#if TEST_COMPUTE_CALIB_PARA
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "F:/ShangGu/项目/冠钦_博清科技/组装/3D与Mark/21epic/调平/scan3D_0.txt");
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
||
|
||
|
||
SVzNL3DRangeD roi;
|
||
roi.xRange.min = -DBL_MAX;
|
||
roi.xRange.max = DBL_MAX;
|
||
roi.yRange.min = -DBL_MAX;
|
||
roi.yRange.max = 580.0;
|
||
roi.zRange.min = 2380.0;
|
||
roi.zRange.max = 2460.0;
|
||
|
||
std::vector<std::vector< SVzNL3DPosition>> roiData;
|
||
_getRoiData_XYZ_vector(scanData, roiData, roi);
|
||
|
||
lineNum = (int)scanData.size();
|
||
if (scanData.size() > 0)
|
||
{
|
||
SSG_planeCalibPara calibPara = sx_BQ_getHoleBaseCalibPara(scanData);
|
||
//结果进行验证
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
//调平，去除地面
|
||
sx_BQ_lineDataR(scanData[i], calibPara.planeCalib, -1); // calibPara.planeHeight);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "F:/ShangGu/项目/冠钦_博清科技/组装/3D与Mark/21epic/ground_calib_para.txt");
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "F:/ShangGu/项目/冠钦_博清科技/组装/3D与Mark/21epic/调平/scanData_ground_calib.txt");
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
|
||
printf("%s: calib done!\n", _calib_datafile);
|
||
}
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_CORNER
|
||
const char* ver = wd_BQAssemblyPositionVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
for (int grp = 0; grp <= 0; grp++)
|
||
{
|
||
SSG_planeCalibPara poseCalibPara;
|
||
//初始化成单位阵
|
||
poseCalibPara.planeCalib[0] = 1.0;
|
||
poseCalibPara.planeCalib[1] = 0.0;
|
||
poseCalibPara.planeCalib[2] = 0.0;
|
||
poseCalibPara.planeCalib[3] = 0.0;
|
||
poseCalibPara.planeCalib[4] = 1.0;
|
||
poseCalibPara.planeCalib[5] = 0.0;
|
||
poseCalibPara.planeCalib[6] = 0.0;
|
||
poseCalibPara.planeCalib[7] = 0.0;
|
||
poseCalibPara.planeCalib[8] = 1.0;
|
||
poseCalibPara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
poseCalibPara = _readCalibPara(calibFile);
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =4;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sscan3D_%d.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
//转成plyTxt格式
|
||
//sprintf_s(_scan_file, "%s%d_ply_Hi229229.txt", dataPath[grp], fidx);
|
||
//wdSavePlyTxt(_scan_file, scanLines);
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
|
||
#if 0
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "%sscanData_%d_calib.txt", dataPath[grp], fidx);
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_out_file, scanLines, false, &headNullLines);
|
||
#endif
|
||
|
||
SSG_cornerParam cornerParam;
|
||
cornerParam.cornerTh = 30; //45度角
|
||
cornerParam.scale = 5; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
|
||
cornerParam.minEndingGap_z = 20;
|
||
cornerParam.jumpCornerTh_1 = 10; //水平角度，小于此角度视为水平
|
||
cornerParam.jumpCornerTh_2 = 60;
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = 20.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
filterParam.outlierTh = 5;
|
||
SSG_treeGrowParam growParam;
|
||
growParam.maxLineSkipNum = 10;
|
||
growParam.yDeviation_max = 10.0;
|
||
growParam.maxSkipDistance = 10.0;
|
||
growParam.zDeviation_max = 10.0;// algoParam.bagParam.bagH / 2; //袋子高度1/2
|
||
growParam.minLTypeTreeLen = 100; //mm
|
||
growParam.minVTypeTreeLen = 100; //mm
|
||
SSX_BQAssemblyPara workpieceParam;
|
||
workpieceParam.type = 0;
|
||
workpieceParam.lineLen = 160.0; //直线段长度
|
||
int errCode = 0;
|
||
SSX_BQAssemblyInfo assemblyPose = sx_BQ_computeAssemblyInfoFrom3D(
|
||
scanLines,
|
||
cornerParam,
|
||
filterParam,
|
||
growParam,
|
||
poseCalibPara,
|
||
workpieceParam,
|
||
&errCode);
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
//sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
//_outputRGBDScanLapWeld_RGBD(_scan_file, scanLines, assemblyPose);
|
||
sprintf_s(calibFile, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
_outputPoseInfo(calibFile, assemblyPose);
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
// 运行程序: Ctrl + F5 或调试 >“开始执行(不调试)”菜单
|
||
// 调试程序: F5 或调试 >“开始调试”菜单
|
||
|
||
// 入门使用技巧:
|
||
// 1. 使用解决方案资源管理器窗口添加/管理文件
|
||
// 2. 使用团队资源管理器窗口连接到源代码管理
|
||
// 3. 使用输出窗口查看生成输出和其他消息
|
||
// 4. 使用错误列表窗口查看错误
|
||
// 5. 转到“项目”>“添加新项”以创建新的代码文件，或转到“项目”>“添加现有项”以将现有代码文件添加到项目
|
||
// 6. 将来，若要再次打开此项目，请转到“文件”>“打开”>“项目”并选择 .sln 文件
|